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\vieww15460\viewh14220\viewkind0
\deftab720
\pard\pardeftab720\partightenfactor0

\f0\b\fs18 \cf0 Info
\f1\b0 \
\
Test designer: C\'e9dric Godin\
Creation date:    2019/03/15\ul \
\ulnone ID Jira: 	SEC-331\
Test Title: RP-LIDAR-integration\ul \
\ulnone \
\

\f0\b Test description 
\f1\b0 \
\
Test objectives and goals: \
Plug RP-LIDAR and view laser scan data in RVIZ\
\
Sub-system(s): Navigation\ul \
\ulnone \
Component(s) (devices and test equipment):\
-RP-LIDAR\
-RP-LIDAR Serial to USB adapter\
-Laptop\
-Micro USB Cable\ul \
\
\ulnone Environment (location, conditions): \
P2-1033\
Room conditions\
\ul \
\ulnone Test Procedure (include files and illustrations): \
-Use code in pioneer-ros-integration branch\
-Create udev rules with script inside rplidar-ros package\
\pard\pardeftab720\partightenfactor0

\f2\fs26 \cf2 \cb3 \expnd0\expndtw0\kerning0
./scripts/create_udev_rules.sh
\f1\fs18 \cf0 \cb1 \kerning1\expnd0\expndtw0 \
\pard\pardeftab720\li-720\fi360\partightenfactor0
\cf0 -Plug RP-LIDAR into laptop with USB to serial converter\
-Start node and viewer\
\pard\pardeftab720\partightenfactor0

\f2\fs26 \cf2 \cb3 \expnd0\expndtw0\kerning0
roslaunch rplidar_ros view_rplidar_a3.launch
\f1\fs18 \cf0 \cb1 \kerning1\expnd0\expndtw0 \
\pard\pardeftab720\li-720\fi360\partightenfactor0
\cf0 \
\
\pard\pardeftab720\partightenfactor0
\cf0 \
Test paramters and inputs (limits, tolerances, settings): \
All defaults\ul \
\
\ulnone Expected results:\
Laser scan matching room\ul \
\
\ulnone \

\f0\b Security\
\

\f1\b0 Potential risks:\
[ \cf4 YES \cf0 / NO ]	Mechanical equipment damages (high speeds, sharp objects, projectiles)\
[ \cf4 YES \cf0 / NO ]	Electrical equipment damages (high power, reverse polarity, ESD, shorts)\
[ \cf4 YES \cf0 / NO ]	Thermal hazards (power dissipation, friction, heat-sensitive/flamable components)\
[ \cf4 YES \cf0 / NO ]	Chemicals (batteries, contaminants, exposition, airborne particles)\
[ \cf4 YES \cf0 / NO ]	New components (first tests, original/student designs)\
[ \cf4 YES \cf0 / NO ]	Human risks (operator proximity, ergonomics, environment, bystanders)\
[ \cf4 YES \cf0 / NO ]	Others: _______________________________\
___________________________________________________\
___________________________________________________\ul \
\
\ulnone Risk mitigation:\
\
Neutralization at the source: _____________________________\
______N.A_____________________________________________\
\
Collective protections: _________________________________\
__________N.A_________________________________________\
\
Personal protections: _________________________________\
_________N.A_________________________________________\ul \
\ulnone \
\

\f0\b Approbation \
\

\f1\b0 Approved by: ______________________\
Date: ________________________\
\
\

\f0\b Test Results\
\

\itap1\trowd \taflags1 \trgaph108\trleft-108 \trbrdrt\brdrnil \trbrdrl\brdrnil \trbrdrr\brdrnil 
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx2160
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx4320
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx6480
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx8640
\pard\intbl\itap1\pardeftab720\partightenfactor0

\f1\b0 \cf0 Tester\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Time & date\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Results\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Comments\cell \row

\itap1\trowd \taflags1 \trgaph108\trleft-108 \trbrdrl\brdrnil \trbrdrt\brdrnil \trbrdrr\brdrnil 
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx2160
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx4320
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx6480
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf5 \clbrdrl\brdrs\brdrw20\brdrcf5 \clbrdrb\brdrs\brdrw20\brdrcf5 \clbrdrr\brdrs\brdrw20\brdrcf5 \clpadl100 \clpadr100 \gaph\cellx8640
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 C\'e9dric Godin\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 14:51 2019-03-15\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 Scan OK\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 Had to use patch from contributor to fix node\cell \lastrow\row
\pard\pardeftab720\partightenfactor0

\f0\b \cf0 \
Comments\
\

\f1\b0 __________________________________________________
\f0\b \
}